A UAV taxiing side deviation detection device and method

Abstract

The present invention relates to the technical field of detection devices, and proposes a device and method for detecting the side deviation of a UAV during taxiing, comprising a landing gear, wherein the landing gear is fixedly connected to the bottom of the UAV body, both ends of the bottom of the landing gear are rotatably connected to mounting seats, the bottoms of the two mounting seats are movably connected to two support rods, the bottoms of the two support rods are fixedly connected to fixed seats, one end of the two fixed seats are rotatably connected to running wheels, the bottoms of the two mounting seats are provided with wheel speed detection components for detecting the wheel speed of the running wheels, and the inner side of the landing gear is provided with a side deviation angle sensor for detecting the side deviation angle of the running wheels. The side deviation displacement detection component of the present invention can detect the side deviation displacement of the running wheels in real time, and then correct the deviation of the running wheels through the correction component to ensure that the running wheels can be accurately adjusted to the initial taxiing position and direction.

Description

Technical Field

[0001] The present invention relates to the technical field of detection devices, and in particular to a device and method for detecting a side deviation of an unmanned aerial vehicle during taxiing. Background Art

[0002] Unmanned aerial vehicle, referred to as "drone", is an unmanned aircraft controlled by radio remote control equipment and self-contained program control device. There is no cockpit on board, but it is equipped with autopilot, program control device and other equipment. Since drones often take off or land in windy conditions, wind has a very large impact on the take-off or landing process of drones. For example, when taxiing in the wind, the lateral friction of the wheels prevents the aircraft from sliding sideways, and in crosswind, the wind speed is not parallel to the aircraft's symmetry plane, resulting in sideslip. The existence of sideslip may cause the drone to deviate from the take-off direction, resulting in unstable take-off, or even cause the aircraft to run out of the take-off runway, causing damage to the aircraft. This requires the detection of drone taxiing sideways data.

[0003] After searching, the Chinese patent publication number CN106081136B9 disclosed "a UAV taxiing side deviation detection device includes a central processing circuit, a wheel speed sensor and a plurality of evenly distributed sensed bolts fixing the brake friction disc on the wheel hub; the wheel speed sensor is divided into two left and right ones, which are respectively fixedly connected to the landing gear on both sides of the UAV, and are arranged relative to the sensed bolts to maintain a certain interval. The wheel speed sensor adopts an inductive wheel speed sensor, including a sensing head, a sensor processing circuit, a sensor housing, a fixing nut and a cable. The UAV taxiing speed can be measured without contacting the tire of the UAV. Its main principle is to use the conductive object to generate eddy current inside the object when it approaches the sensor. After the eddy current reacts to the sensor, the parameters of the internal circuit of the sensor will change. This change is received by a dedicated chip and converted into two levels of 0 and 1, so as to provide a detection signal for the subsequent circuit. When the UAV is in a taxiing state".

[0004] The above patent mainly detects the rotation speed of the UAV's wheels in real time through wheel speed sensors, and then adjusts the UAV's taxiing posture through the flight control system. However, since the UAV's wheel lateral deviation is mainly caused by the lateral effect of wind force, resulting in deviation from the direction, and the patent cannot detect the lateral displacement of the wheel, it is impossible to provide accurate adjustment data to the flight control system. Even if the flight direction is adjusted, it will deviate from the initial taxiing position, and there is still a safety hazard. In view of this, the present invention proposes a UAV taxiing lateral deviation detection device and method. Summary of the invention

[0005] The present invention provides a device and method for detecting the sliding side deviation of an unmanned aerial vehicle, which solves the problem that the side deviation displacement of the wheels cannot be detected in the prior art.

[0006] The technical solution of the present invention is as follows: A device for detecting the sliding sideslip of an unmanned aerial vehicle comprises a landing gear, wherein the landing gear is fixedly connected to the bottom of the unmanned aerial vehicle body, a detection mechanism is arranged on the inner side of the landing gear, the detection mechanism comprises two mounting seats rotatably connected to the two ends of the bottom of the landing gear, the bottoms of the two mounting seats are movably connected to two support rods, the bottoms of the two support rods are fixedly connected to fixing seats, one end of the two fixing seats are rotatably connected to walking wheels, the bottom ends of the two mounting seats are arranged with wheel speed detection components for detecting the wheel speed of the walking wheels, and the inner side of the landing gear is arranged with a sideslip angle sensor for detecting the sideslip angle of the walking wheels.

[0007] Preferably, a lateral displacement detection member for detecting the lateral displacement of the running wheel is disposed on the inner side of the two mounting seats, and a correction member for correcting the lateral displacement of the running wheel is disposed on the inner side of the landing gear.

[0008] Preferably, the lateral displacement detection component includes a slider slidably connected to the inner side of the mounting seat, the bottom of the slider is fixedly connected to the top of the corresponding support rod, the inner side of the mounting seat is fixedly connected with a guide rod passing through the slider, and the slider is slidably connected to the guide rod.

[0009] Preferably, the lateral displacement detection component also includes two pressure springs, which are respectively mounted on the two ends of the guide rod, one end of the two pressure springs respectively abut against the two sides of the slider, and the other ends of the two pressure springs respectively abut against the two sides of the inner side of the mounting seat, and both ends of the mounting seat are fixedly connected with pressure sensors for detecting the compression displacement of the two pressure springs.

[0010] Preferably, the wheel speed detection component includes a mounting plate, which is fixedly connected to one end of a fixing seat, one end of which is rotatably connected to a brake disc coaxially fixedly connected to the traveling wheel, and the bottom end of the fixing seat is fixedly connected to a wheel speed sensor for detecting the rotational speed of the traveling wheel.

[0011] Preferably, the correction member includes two first gears symmetrically distributed along the center line of the landing gear, the two first gears are coaxially fixedly connected to two mounting seats respectively, the middle part of the landing gear is rotatably connected to the second gear, and the two first gears are meshed with the second gear.

[0012] Preferably, the correction member also includes a first bevel gear coaxially fixedly connected to the second gear, a motor is fixedly installed on the inner side of the landing gear, an output shaft of the motor is fixedly connected to the second bevel gear, and the second bevel gear is meshed with the first bevel gear.

[0013] Preferably, a control panel is provided on the inner side of the landing gear, the control panel includes a processor and a signal receiving module electrically connected to the processor, the pressure sensor, the wheel speed sensor and the sideslip angle sensor are all connected to the processor signal, and the motor is electrically connected to the processor.

[0014] Preferably, the signal output terminal of the processor is electrically connected to a communication module, and the communication module is signal-connected to the flight control system of the unmanned aerial vehicle.

[0015] The present invention also provides a method for detecting a side deviation of a UAV during taxiing, which is implemented by a device for detecting a side deviation of a UAV during taxiing, and comprises the following steps:

[0016] S1: Install a side slip angle sensor on the inner side of the landing gear so that the side slip angle sensor can detect the moving direction of the drone body in real time;

[0017] S2: A wheel speed sensor is installed on each of the two running wheels on the two support rods at the bottom of the landing gear to measure the wheel speed of the two running wheels. During the taxiing process of the UAV, the wheel speed sensor will detect the wheel speed and transmit it to the central processing circuit of the processor in the form of high and low level signals;

[0018] S3: The processor receives high and low level signals through the signal receiving module, compares and processes the signals, and then sends the processing results to the UAV flight control system for the flight control system to control the UAV's taxiing posture;

[0019] S4: The pressure sensor can actually detect the lateral displacement of the two running wheels. The pressure sensor sends the lateral displacement data signal to the signal receiving module, and then the signal receiving module sends the lateral displacement data signal to the processor, and then the processor corrects the deflection angle of the two running wheels by controlling the correction component.

[0020] The working principle and beneficial effects of the present invention are as follows: when the unmanned aerial vehicle body is taxiing, the running wheels rotate, and the wheel speed detection component is used to detect the wheel speed of the running wheels in real time. At the same time, the side slip angle sensor detects the side slip angle of the running wheels to determine whether the running direction of the running wheels deviates, and the side slip displacement detection component can detect the side slip displacement of the running wheels in real time, and then the correction component is used to correct the deviation of the running wheels to ensure that the running wheels can be accurately adjusted to the initial taxiing position and direction, so that the unmanned aerial vehicle body can still take off and land at the predetermined taxiing position and direction under the action of the lateral wind force, thereby greatly improving the safety of the take-off and landing of the unmanned aerial vehicle body. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0022] Figure 1It is a structural schematic diagram of a UAV taxiing side deviation detection device of the present invention;

[0023] Figure 2 It is a structural schematic diagram of the detection mechanism of the present invention;

[0024] Figure 3 It is a structural schematic diagram of the lateral displacement detection member of the present invention;

[0025] Figure 4 It is a structural schematic diagram of the wheel speed detection component of the present invention;

[0026] Figure 5 It is a structural schematic diagram of the correction member of the present invention;

[0027] Figure 6 It is a system block diagram of the present invention.

[0028] In the figure: 1. landing gear; 2. detection mechanism; 21. mounting seat; 22. support rod; 23. lateral displacement detection member; 231. slider; 232. guide rod; 233. pressure spring; 234. pressure sensor; 24. fixing seat; 25. walking wheel; 26. wheel speed detection member; 261. mounting plate; 262. brake disc; 264. wheel speed sensor; 27. correction member; 271. first gear; 272. second gear; 273. first bevel gear; 274. motor; 275. second bevel gear; 28. lateral displacement sensor; 3. unmanned aerial vehicle body. DETAILED DESCRIPTION

[0029] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] like Figure 1 to Figure 6As shown, this embodiment proposes a UAV taxiing sideslip detection device, including a landing gear 1, which is fixedly connected to the bottom of the UAV body 3, and a detection mechanism 2 is arranged on the inner side of the landing gear 1, and the detection mechanism 2 includes two mounting seats 21 rotatably connected to the bottom ends of the landing gear 1, two supporting rods 22 are movably connected to the bottom of the two mounting seats 21, and the bottoms of the two supporting rods 22 are fixedly connected to the fixing seats 24, and one end of the two fixing seats 24 is rotatably connected to the running wheels 25, and the bottom ends of the two mounting seats 21 are provided with wheel speed detection members 26 for detecting the wheel speed of the running wheels 25, and the inner side of the landing gear 1 is provided with a sideslip angle sensor 28 for detecting the sideslip angle of the running wheels 25, and the inner sides of the two mounting seats 21 are provided with sideslip displacement detection members 23 for detecting the sideslip displacement of the running wheels 25, and the inner side of the landing gear 1 is provided with a correction member 27 for correcting the deflection of the running wheels 25.

[0031] During the taxiing process of the unmanned aerial vehicle body 3, the running wheel 25 rotates, and the wheel speed detection component 26 is used to detect the wheel speed of the running wheel 25 in real time. At the same time, the side slip angle sensor 28 detects the side slip angle of the running wheel 25 to determine whether the running direction of the running wheel 25 deviates. The side slip displacement detection component 23 can detect the side slip displacement of the running wheel 25 in real time, and then the correction component 27 is used to correct the deviation of the running wheel 25 to ensure that the running wheel 25 can be accurately adjusted to the initial taxiing position and direction, so that the unmanned aerial vehicle body 3 can still take off and land at the predetermined taxiing position and direction under the action of the lateral wind force, which greatly improves the safety of the take-off and landing of the unmanned aerial vehicle body 3.

[0032] Furthermore, the lateral displacement detection component 23 includes a slider 231 slidably connected to the inner side of the mounting seat 21, the bottom of the slider 231 is fixedly connected to the top of the corresponding support rod 22, the inner side of the mounting seat 21 is fixedly connected with a guide rod 232 that passes through the slider 231, the slider 231 is slidably connected to the guide rod 232, both ends of the guide rod 232 are sleeved with pressure springs 233, one end of the two pressure springs 233 respectively abuts against the two sides of the slider 231, the other ends of the two pressure springs 233 respectively abut against the two sides of the inner side of the mounting seat 21, and both ends of the mounting seat 21 are fixedly connected with pressure sensors 234 for detecting the compression displacement of the two pressure springs 233.

[0033] When the unmanned aerial vehicle 3 is offset by the lateral wind force during taxiing, the support rod 22 will be offset and the slider 231 will slide inside the mounting seat 21, which will compress the corresponding pressure spring 233. The pressure sensor 234 can detect the compression displacement of the pressure spring 233, and the compression displacement of the pressure spring 233 is also the offset of the walking wheel 25. This can accurately calculate the offset data of the walking wheel 25, so that the correction member 27 can be accurately adjusted according to the offset data of the walking wheel 25, ensuring that the walking wheel 25 can be accurately adjusted to the initial taxiing position.

[0034] Furthermore, the wheel speed detection member 26 includes a mounting plate 261, which is fixedly connected to one end of the fixing seat 24, and one end of the mounting plate 261 is rotatably connected to a brake disc 262 coaxially fixedly connected to the running wheel 25, and a wheel speed sensor 264 for detecting the rotation speed of the running wheel 25 is fixedly connected to the bottom end of the fixing seat 24. The wheel speed sensor 264 can detect the rotation speed of the two running wheels 25 in real time, and thus can detect the rotation speed of the running wheels 25 in real time, and judge whether the running wheels 25 are offset by the change in the rotation speed of the running wheels 25.

[0035] Further, the correction member 27 includes two first gears 271 symmetrically distributed along the center line of the landing gear 1, the two first gears 271 are coaxially fixedly connected to the two mounting seats 21 respectively, the middle part of the landing gear 1 is rotatably connected with a second gear 272, the two first gears 271 are meshed with the second gear 272, the second gear 272 is coaxially fixedly connected with a first bevel gear 273, a motor 274 is fixedly installed on the inner side of the landing gear 1, the output shaft of the motor 274 is fixedly connected with a second bevel gear 275, and the second bevel gear 275 is meshed with the first bevel gear 273;

[0036] By starting the motor 274 to drive the second bevel gear 275 to rotate, the first bevel gear 273 drives the second gear 272 to rotate synchronously, which makes the two first gears 271 rotate synchronously and in the same direction, and the two mounting seats 21 drive the corresponding support rods 22 to rotate, so that the two walking wheels 25 can correct the lateral deviation, and adjust the lateral rotation angle of the walking wheels 25 to the initial position and direction.

[0037] Furthermore, a control panel is provided on the inner side of the landing gear 1, and the control panel includes a processor, a signal receiving module electrically connected to the processor, a pressure sensor 234, a wheel speed sensor 264, and a side slip angle sensor 28 are all connected to the processor signal, a motor 274 is electrically connected to the processor, a signal output end of the processor is electrically connected to a communication module, and the communication module is connected to the flight control system signal of the unmanned aerial vehicle body 3.

[0038] Working principle: When the drone body 3 is taxiing, the wheel speed sensor 264 can detect the rotation speed of the two running wheels 25 in real time, thus realizing the real-time detection of the rotation speed of the running wheels 25. At the same time, the wheel speed sensor 264 transmits the detected wheel speed to the central processing circuit of the processor in the form of high and low level signals. The processor receives the high and low level signals through the signal receiving module, compares and processes the signals, and then sends the processing results to the drone flight control system, so that the flight control system can control the taxiing posture of the drone.

[0039] When the drone body 3 is deflected by the lateral wind force during taxiing, the support rod 22 is deflected and the slider 231 slides inside the mounting seat 21, which compresses the corresponding pressure spring 233. The pressure sensor 234 can detect the compression displacement of the pressure spring 233, which is also the displacement of the running wheel 25. The displacement data of the running wheel 25 can be accurately calculated, and then the processor controls the motor 274 to start to drive the second bevel gear 275 to rotate, so that the first bevel gear 273 drives the second bevel gear 275 to rotate. The two gears 272 rotate synchronously, which makes the two first gears 271 rotate synchronously and in the same direction, so that the two mounting seats 21 drive the corresponding support rods 22 to rotate, so that the two running wheels 25 can be corrected for lateral deviation. By adjusting the lateral rotation angle of the running wheels 25 to adjust them to the initial position and direction, it is ensured that the running wheels 25 can be accurately adjusted to the initial sliding position and direction, so that the unmanned aerial vehicle body 3 can still take off and land at the predetermined sliding position and direction under the action of the lateral wind force, which greatly improves the safety of the take-off and landing of the unmanned aerial vehicle body 3.

[0040] The present invention also provides a method for detecting a side deviation of a UAV during taxiing, which is implemented by a device for detecting a side deviation of a UAV during taxiing, and comprises the following steps:

[0041] S1: Install a side slip angle sensor 28 on the inner side of the landing gear 1, so that the side slip angle sensor 28 can detect the moving direction of the unmanned aerial vehicle 3 in real time;

[0042] S2: A wheel speed sensor 264 is installed on each of the two running wheels 25 on the two support rods 22 at the bottom of the landing gear 1 to measure the wheel speed of the two running wheels 25. During the taxiing process of the UAV, the wheel speed sensor 264 will detect the wheel speed and transmit it to the central processing circuit of the processor in the form of high and low level signals;

[0043] S3: The processor receives high and low level signals through the signal receiving module, compares and processes the signals, and then sends the processing results to the UAV flight control system for the flight control system to control the UAV's taxiing posture;

[0044] S4: The pressure sensor 234 can actually detect the lateral displacement of the two running wheels 25. The pressure sensor 234 sends the lateral displacement data signal to the signal receiving module, and then the signal receiving module sends the lateral displacement data signal to the processor, and then the processor corrects the deflection angle of the two running wheels 25 by controlling the correction component 27.

[0045] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A UAV taxiing side deviation detection device, comprising a landing gear (1), wherein the landing gear (1) is fixedly connected to the bottom of the UAV body (3), characterized in that: A detection mechanism (2) is arranged on the inner side of the landing gear (1), and the detection mechanism (2) comprises two mounting seats (21) rotatably connected to the two ends of the bottom of the landing gear (1), the bottoms of the two mounting seats (21) are movably connected to two support rods (22), the bottoms of the two support rods (22) are fixedly connected to a fixing seat (24), one end of the two fixing seats (24) are rotatably connected to a running wheel (25), the bottom ends of the two mounting seats (21) are arranged with a wheel speed detection member (26) for detecting the wheel speed of the running wheel (25), and the inner side of the landing gear (1) is arranged with a side slip angle sensor (28) for detecting the side slip angle of the running wheel (25).

2. The UAV taxiing side deviation detection device according to claim 1 is characterized in that: The inner sides of the two mounting seats (21) are each provided with a lateral displacement detection member (23) for detecting the lateral displacement of the running wheel (25), and the inner side of the landing gear (1) is provided with a correction member (27) for correcting the lateral displacement of the running wheel (25).

3. The UAV taxiing side deviation detection device according to claim 2, characterized in that: The lateral displacement detection member (23) comprises a slider (231) slidably connected to the inner side of the mounting seat (21); the bottom of the slider (231) is fixedly connected to the top of the corresponding support rod (22); the inner side of the mounting seat (21) is fixedly connected to a guide rod (232) penetrating the slider (231); the slider (231) is slidably connected to the guide rod (232).

4. The UAV taxiing side deviation detection device according to claim 3 is characterized in that: The lateral displacement detection member (23) further comprises two pressure springs (233), the two pressure springs (233) being respectively sleeved on the two ends of the guide rod (232), one end of the two pressure springs (233) respectively abutting against the two sides of the slider (231), and the other ends of the two pressure springs (233) respectively abutting against the two sides of the inner side of the mounting seat (21), and both ends of the mounting seat (21) are fixedly connected with pressure sensors (234) for detecting the compression displacement of the two pressure springs (233).

5. The UAV taxiing side deviation detection device according to claim 4, characterized in that: The wheel speed detection member (26) comprises a mounting plate (261), wherein the mounting plate (261) is fixedly connected to one end of a fixing seat (24), wherein one end of the mounting plate (261) is rotatably connected to a brake plate (262) coaxially fixedly connected to the running wheel (25), and a wheel speed sensor (264) for detecting the rotation speed of the running wheel (25) is fixedly connected to the bottom end of the fixing seat (24).

6. The UAV taxiing side deviation detection device according to claim 5, characterized in that: The correction member (27) comprises two first gears (271) symmetrically distributed along the center line of the landing gear (1), the two first gears (271) being coaxially fixedly connected to two mounting seats (21) respectively, the middle part of the landing gear (1) being rotatably connected to a second gear (272), and the two first gears (271) being meshed with the second gear (272).

7. The UAV taxiing side deviation detection device according to claim 6, characterized in that: The correction member (27) further comprises a first bevel gear (273) coaxially fixedly connected to the second gear (272); a motor (274) is fixedly mounted on the inner side of the landing gear (1); an output shaft of the motor (274) is fixedly connected to a second bevel gear (275); and the second bevel gear (275) is meshed with the first bevel gear (273).

8. The UAV taxiing side deviation detection device according to claim 7, characterized in that: A control panel is provided inside the landing gear (1), the control panel comprising a processor and a signal receiving module electrically connected to the processor, the pressure sensor (234), the wheel speed sensor (264), and the side slip angle sensor (28) are all signal-connected to the processor, and the motor (274) is electrically connected to the processor.

9. The UAV taxiing side deviation detection device according to claim 8, characterized in that: The signal output end of the processor is electrically connected to a communication module, and the communication module is signal-connected to the flight control system of the unmanned aerial vehicle (3).

10. A method for detecting a side deviation of a UAV during taxiing, implemented by the device for detecting a side deviation of a UAV during taxiing according to claim 9, characterized in that: The steps include: S1: installing a side slip angle sensor (28) on the inner side of the landing gear (1), so that the side slip angle sensor (28) can detect the moving direction of the unmanned aerial vehicle (3) in real time; S2: A wheel speed sensor (264) is installed on each of the two running wheels (25) on the two support rods (22) at the bottom of the landing gear (1) to measure the wheel speed of the two running wheels (25). During the taxiing process of the UAV, the wheel speed sensor (264) will detect the wheel speed and transmit it to the central processing circuit of the processor in the form of high and low level signals; S3: The processor receives high and low level signals through the signal receiving module, compares and processes the signals, and then sends the processing results to the UAV flight control system for the flight control system to control the UAV's taxiing posture; S4: The pressure sensor (234) can actually detect the lateral displacement of the two running wheels (25). The pressure sensor (234) sends a lateral displacement data signal to a signal receiving module, and then the signal receiving module sends the lateral displacement data signal to a processor, and then the processor corrects the deflection angle of the two running wheels (25) by controlling the correction component (27).

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